CN107547792B - Vehicle-mounted mobile image acquisition system - Google Patents
Vehicle-mounted mobile image acquisition system Download PDFInfo
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- CN107547792B CN107547792B CN201610498604.2A CN201610498604A CN107547792B CN 107547792 B CN107547792 B CN 107547792B CN 201610498604 A CN201610498604 A CN 201610498604A CN 107547792 B CN107547792 B CN 107547792B
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Abstract
The invention relates to a vehicle-mounted mobile image acquisition system facing three-dimensional modeling and a working method thereof, wherein the vehicle-mounted mobile image acquisition system comprises: the system comprises a vehicle-mounted mobile positioning system for positioning the running of the vehicle, a panoramic image acquisition system for acquiring image data, and a synchronous controller unit, wherein the synchronous controller unit is suitable for controlling the panoramic image acquisition system to synchronously shoot in the running process of the vehicle; the invention can conveniently control the vehicle-mounted mobile image acquisition system facing the three-dimensional modeling to realize focusing and shooting functions, and is convenient for the panoramic image acquisition system to carry out three-dimensional framing shooting; and follow-up shooting can be realized through mileage signals.
Description
Technical Field
The invention relates to a vehicle-mounted mobile image acquisition system and a street view acquisition system for three-dimensional modeling and a working method thereof.
Background
At present, three-dimensional street view collection is more and more popular particularly in the field of map mapping, and a panoramic image collection system which is shot in a rotating mode by 360 degrees is installed on a vehicle to collect street view data, so that a real-scene map is drawn, and navigation and use of a user are facilitated.
Therefore, it is necessary to design a vehicle-mounted mobile image acquisition system suitable for a panoramic image acquisition system and oriented to three-dimensional modeling.
Disclosure of Invention
The invention aims to provide a vehicle-mounted mobile image acquisition system and a working method thereof, so as to realize synchronous shooting control of a panoramic image acquisition system.
In order to solve the technical problem, the invention provides a vehicle-mounted mobile image acquisition system for three-dimensional modeling, which comprises: the system comprises a vehicle-mounted mobile positioning system for positioning the running of the vehicle, a panoramic image acquisition system for acquiring image data and a synchronous controller unit, wherein the synchronous controller unit is suitable for controlling the panoramic image acquisition system to synchronously shoot in the running process of the vehicle.
Further, the panoramic image capturing system includes: the vehicle-mounted processor module is suitable for controlling a focusing control end and a photographing control end of each single-lens reflex camera so as to realize focusing and photographing of the corresponding single-lens reflex camera; the synchronization controller unit includes: a clock module adapted to provide an internal trigger signal and/or a hall sensor adapted to provide an external trigger signal; the single lens reflex and the panoramic camera are suitable for realizing synchronous shooting through an internally triggered clock signal, and the single lens reflex and the panoramic camera are suitable for realizing synchronous shooting through an externally triggered mileage signal and a vehicle speed signal.
Further, the vehicle-mounted processor module is also connected with the vehicle-mounted wireless communication module; the panoramic image acquisition system further comprises: install the unmanned aerial vehicle shooting system on unmanned aerial vehicle, unmanned aerial vehicle shooting system includes: the airborne processor module is connected with the airborne wireless communication module; the unmanned aerial vehicle shooting system is suitable for sending the shot image data to a data processing system in the vehicle-mounted mobile image acquisition system through the airborne wireless communication module.
Further, unmanned aerial vehicle imaging system still includes: a path optimization subsystem coupled to the onboard processor module; the path optimization subsystem is suitable for acquiring real-time data of wind among all buildings and establishing an air duct network among urban buildings; after the unmanned aerial vehicle sets a shooting destination, the path optimization subsystem is suitable for selecting an optimal path of the unmanned aerial vehicle to fly to the destination according to an air duct network between urban buildings;
unmanned aerial vehicle imaging system still includes: the system comprises a map storage module, a gyroscope and an airplane power subsystem, wherein the map storage module is connected with a processing module, the gyroscope is used for detecting the flight attitude of the unmanned aerial vehicle, and the airplane power subsystem is controlled by the airborne processor module; wherein the aircraft power subsystem comprises: a horizontal power mechanism and a vertical power mechanism controlled by the airborne processor module; wherein horizontal power unit is located fuselage department, and includes: a horizontal propeller mechanism; the vertical power mechanism comprises: the vertical propeller mechanisms are symmetrically arranged at the left wing and the right wing; the vertical propeller mechanism comprises at least one vertical propeller and a suspension device used for suspending the vertical propeller mechanism under the wing, and the vertical propeller is suitable for being driven to rotate by a corresponding micro motor; the suspension device includes: a first angle fine adjustment motor adapted to tilt the vertical propeller forward or backward, and a second angle fine adjustment motor adapted to tilt the vertical propeller leftward or rightward; the first angle fine-tuning motor, the second angle fine-tuning motor and the micro motor are controlled by an onboard processor module so as to adjust the inclination angle of the vertical propeller and the rotating speed of the vertical propeller according to the flight attitude; the unmanned aerial vehicle is also provided with a wind direction sensor and a wind speed sensor which are used for detecting crosswind encountered in the flight process, and the wind direction and wind speed data of the crosswind borne by the current unmanned aerial vehicle are sent to the onboard processor module; the onboard processor module is suitable for adjusting the inclination angle of the vertical propeller and the rotating speeds of the vertical propeller and the horizontal propeller according to the wind direction and the wind speed data of crosswind so as to stabilize the current flight attitude for image data acquisition; if the direction and speed of the crosswind contribute to the flight, the rotational speed of the vertical propeller and/or the horizontal propeller is reduced.
Furthermore, the wings of the unmanned aerial vehicle are covered with photovoltaic cells, the path optimization subsystem is also suitable for obtaining the real-time illumination intensity among the buildings, and when the path optimization subsystem selects the optimal path, if two or more road sections have the wind among the buildings with the same data, the road section with the maximum real-time illumination intensity is selected into the optimal path; the path optimization subsystem is also suitable for acquiring cloud layer data over the city and avoiding the road section of a cloud layer coverage area when selecting the optimal path; the onboard processor module is also connected with a camera device for shooting the panoramic view of the building, and is suitable for identifying the height of the building according to the panoramic view of the building; when the unmanned aerial vehicle flies in rainy and snowy weather, the path optimization subsystem is suitable for selecting a leeward road section of a building as the path selection of the unmanned aerial vehicle in the optimal path; and the flying height of the unmanned aerial vehicle is lower than the height of the building so as to shield rain and snow.
Furthermore, the onboard processor module is also connected with a charge and discharge control module in the unmanned aerial vehicle, the charge and discharge control module is suitable for sending the electric quantity of the onboard battery to the onboard processor module, and when the electric quantity of the onboard battery is lower than a set value, the onboard processor module controls the unmanned aerial vehicle to stop in an area with high illumination intensity so as to charge the onboard battery through the photovoltaic battery; or the airborne processor module controls the unmanned aerial vehicle to stop in an area with larger wind power so as to generate electric energy to charge the airborne battery by blowing the horizontal propeller and/or the vertical propeller; the vertical propeller is suitable for adjusting the inclination angle through the first angle fine adjustment motor and the second angle fine adjustment motor.
In another aspect, the invention further provides a working method of the vehicle-mounted mobile image acquisition system for three-dimensional modeling, namely, if a vehicle provided with the vehicle-mounted mobile image acquisition system is jammed in the process of running, the unmanned aerial vehicle is started, and an unmanned aerial vehicle shooting system on the unmanned aerial vehicle is used for acquiring image data.
Further, the unmanned aerial vehicle carries out flight shooting according to an original driving route of the vehicle, or sets a shooting destination, and selects a route from which the unmanned aerial vehicle flies to the destination to obtain an optimal route.
Further, the method for selecting the path from which the unmanned aerial vehicle flies to the destination to obtain the optimal path comprises the following steps: acquiring real-time data of wind among buildings, and establishing an air duct network among urban buildings; after the unmanned aerial vehicle sets a shooting destination, an onboard processor module in the unmanned aerial vehicle is suitable for selecting an optimal path of the unmanned aerial vehicle to fly to the destination according to an air duct network between urban buildings through a path optimization subsystem; the wings of the unmanned aerial vehicle are covered with photovoltaic cells, and the path optimization subsystem is also suitable for obtaining the real-time illumination intensity among all the buildings; when the path optimization subsystem selects the optimal path, if two or more road sections have the same data of the wind between the buildings, the road section with the maximum real-time illumination intensity is selected into the optimal path; the path optimization subsystem is also suitable for acquiring cloud layer data over the city and avoiding the road section of a cloud layer coverage area when an optimal path is selected; the unmanned aerial vehicle is also provided with a camera device for shooting the panoramic view of the building, the camera device is connected with the airborne processor module, and the airborne processor module is suitable for identifying the height of the building according to the panoramic view of the building; when the unmanned aerial vehicle flies in rainy and snowy weather, the path optimization subsystem is suitable for selecting a leeward road section of a building as the path selection of the unmanned aerial vehicle in the optimal path; and the flying height of the unmanned aerial vehicle is lower than the height of the building so as to shield rain and snow.
Further, the working method further comprises: the method for adjusting the inclination angle and the rotating speed of the vertical propeller according to the flight attitude is characterized in that the onboard processor module is suitable for controlling the first angle fine adjustment motor to drive the vertical propeller to incline forwards and simultaneously controlling the horizontal propeller in the horizontal propeller mechanism to work so as to shorten the time for the unmanned aerial vehicle to reach the set cruise altitude and meet the cruise speed of the unmanned aerial vehicle when the unmanned aerial vehicle reaches the cruise altitude; if the unmanned aerial vehicle hovers in the air, the horizontal propeller stops working, the vertical propeller works, and the onboard processor module is suitable for changing the inclination angle and the rotating speed of the vertical propeller according to the wind direction and the wind speed data of crosswind so as to stabilize the hovering attitude;
if the unmanned aerial vehicle cruises and flies, the airborne processor module is suitable for changing the inclination angle and the rotating speed of the vertical propeller according to the wind direction and the wind speed data of crosswind so as to keep the cruises height.
The vehicle-mounted mobile image acquisition system facing the three-dimensional modeling can conveniently control the vehicle-mounted mobile image acquisition system facing the three-dimensional modeling to realize focusing and shooting functions, and is convenient for the panoramic image acquisition system to carry out three-dimensional framing shooting; and follow-up shooting can be realized through mileage signals.
Drawings
The invention is further illustrated with reference to the following figures and examples.
FIG. 1 is a schematic block diagram of a three-dimensional modeling-oriented vehicle-mounted mobile image acquisition system of the invention;
FIG. 2 is a circuit schematic of the control interface of the present invention;
FIG. 3 is a circuit schematic of the relay control module of the present invention;
fig. 4 is a control schematic diagram of the unmanned aerial vehicle photographing system of the present invention;
fig. 5 is a schematic diagram of a planned flight trajectory of the drone filming system of the present invention.
Fig. 6 is a schematic structural diagram of the drone of the present invention.
In the figure: the device comprises a horizontal power mechanism 1, a horizontal propeller 101, a vertical power mechanism 2, a vertical propeller 201, a micro motor 202, a wing 3, a suspension device 4, a first angle fine adjustment motor 401, a second angle fine adjustment motor 402, a machine body 5 and a photovoltaic cell 6.
Detailed Description
The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic views illustrating only the basic structure of the present invention in a schematic manner, and thus show only the constitution related to the present invention.
Example 1
As shown in fig. 1 to 6, the vehicle-mounted mobile image acquisition system for three-dimensional modeling according to the present invention includes: the system comprises a vehicle-mounted mobile positioning system for positioning the running of the vehicle, a panoramic image acquisition system for acquiring image data, and a synchronous controller unit connected with the vehicle-mounted mobile positioning system and the panoramic image acquisition system, wherein the synchronous controller unit is suitable for controlling the panoramic image acquisition system to synchronously shoot in the running process of the vehicle.
And the vehicle-mounted mobile positioning system and the panoramic image acquisition system are connected with a data processing system in the vehicle-mounted mobile image acquisition system, namely, the spatial position and the orientation of each camera during shooting are subjected to spatial matching, so that a street view image library is established on the basis.
Wherein, the vehicle-mounted mobile positioning system is such as but not limited to a three-star CORS system enhanced by Beidou; so that the vehicle-mounted mobile image acquisition system can acquire the accurate spatial position of the target in a mobile state.
The panoramic image acquisition system includes: the vehicle-mounted processor module is suitable for controlling a focusing control end and a photographing control end of each single-lens reflex camera so as to realize focusing and photographing of the corresponding single-lens reflex camera; the synchronization controller unit includes: a clock module adapted to provide an internal trigger signal and/or a hall sensor adapted to provide an external trigger signal; the single lens reflex and the panoramic camera are suitable for realizing synchronous shooting through an internally triggered clock signal, and the single lens reflex and the panoramic camera are suitable for realizing synchronous shooting through an externally triggered mileage signal and a vehicle speed signal.
The panoramic image acquisition system comprises a control circuit board, a vehicle-mounted processor module is positioned in the control circuit board and comprises a single lens reflex camera and a control interface connected with the panoramic camera, wherein the vehicle-mounted processor module controls a focusing control end and a photographing control end through a corresponding relay control module; and the vehicle-mounted processor module is also connected with an operation key to control the panoramic image acquisition system to focus and take pictures.
The vehicle-mounted processor module is, for example but not limited to, an AT89C52 single chip microcomputer, a SignA corresponding to a focusing control end in a control interface, a SignB corresponding to a photographing control end, and a grounding end SignG of the panoramic image acquisition system, wherein the mileage signal access end is ExSign, and the mileage signal is an external trigger signal; and EXVCC is a power supply terminal, and the ExRxd and the ExTxd are connected with the serial port module.
Preferably, the relay control module includes: the base electrode of the PNP triode Q1 is connected with the focusing or photographing control output end of the vehicle-mounted processor module, the emitter electrode of the PNP triode Q1 is connected with a high level, and the collector electrode of the PNP triode Q1 is grounded through a coil of the relay; when the focusing or photographing control output end outputs a low level, the PNP triode Q1 is turned on, the coil is powered on, and the switch K1 of the relay is closed, so that the focusing control end or the photographing control end obtains a corresponding control signal (the control signal is a low level).
The control interface further comprises a mileage signal access end, the mileage signal access end inputs the mileage signal into the processor module through the optical coupling module after accessing the mileage signal, and the mileage signal is accessed into a P11 port of the AT89C52 singlechip. The mileage signal is derived from a Hall sensor in the vehicle, so that follow-up shooting is performed along with the running of the vehicle.
The vehicle-mounted mobile image acquisition system further comprises: and the liquid crystal module and the serial port module are connected with the vehicle-mounted processor module.
The optical coupler module is, for example, a T521 optical coupler module, and the serial port module is, for example, but not limited to, a MAX232 module.
The vehicle-mounted processor module is also connected with the vehicle-mounted wireless communication module; the panoramic image acquisition system further comprises: install the unmanned aerial vehicle shooting system on unmanned aerial vehicle, unmanned aerial vehicle shooting system includes: the airborne processor module is connected with the airborne wireless communication module; the unmanned aerial vehicle shooting system is suitable for sending shot image data to the data processing system through the airborne wireless communication module.
As shown in fig. 4, the unmanned aerial vehicle control system further includes: a path optimization subsystem coupled to the onboard processor module; the path optimization subsystem is suitable for acquiring real-time data of wind among all buildings and establishing an air duct network among urban buildings; after the unmanned aerial vehicle sets a shooting destination, the path optimization subsystem is suitable for selecting the optimal path of the unmanned aerial vehicle flying to the destination according to the air duct network between the urban buildings.
The optimal path of the unmanned aerial vehicle flying to the destination is obtained through the path optimization subsystem, the wind direction of wind between the buildings in the wind channel between the buildings is fully utilized, the flying speed is improved, and the flying energy consumption is reduced.
Specifically, the real-time data of wind between each building is suitable for being obtained through air duct data acquisition nodes distributed between each high building, and the air duct data acquisition nodes include: install the wind speed sensor who is used for detecting wind speed between the building and the wind direction sensor of wind direction between the building to with the node processor and the wireless module that this wind speed sensor and wind direction sensor link to each other, be about to wind speed, wind direction data send to unmanned aerial vehicle through wireless mode, carry out data analysis through the route optimization subsystem, and then establish wind channel between the city building.
After the unmanned aerial vehicle sets a flight destination, analyzing air ducts between corresponding buildings of the city, which are experienced by the flight path, and planning out the most reasonable flight path, namely the optimal path.
Specifically, the urban inter-building air duct network takes the intersection point of air ducts between each building as a node, and performs path selection according to the wind speed and wind direction data of the air duct between the buildings between two adjacent nodes, namely selects the corresponding inter-building air duct with the wind direction matched with the flight path as the selection road section of the optimal path, so that the unmanned aerial vehicle can reach the destination under the condition of following the wind as much as possible, and the purposes of improving the flight speed and reducing the fuel consumption are achieved; or selecting a road section with small wind speed and short distance although the wind is against the wind. Specifically, a corresponding limit value may be set, for example, when the upwind state is reached, a specific wind speed level is digitized, for example, 1 level, 2 levels, and the like, and a route may also be set to 10 meters, 20 meters, or 30 meters, and the like, for example, a road section selection condition is set to be not greater than 2 levels of wind speed, and when the route does not exceed 20 meters, the road section may be selected, and in the optimal path planning process, if a certain road section meets the above condition, the road section may be selected to be added to the optimal path.
As shown in fig. 5, multiple routes from the starting position a to the destination E of the drone are obtained, and the routes are screened according to the wind directions of the wind channels between the buildings related to each route, so that the drone flies in the wind channels between the buildings as far as possible, for example, from a to B, B to C, C to D, D to E, and each hollow arrow represents the wind direction of the corresponding wind channel between the buildings respectively.
The unmanned aerial vehicle is also suitable for receiving real-time data of wind between the buildings sent by the air channel data acquisition node through the airborne wireless communication module, and the path optimization subsystem obtains an optimal path so that the unmanned aerial vehicle flies to a target address according to the path.
Preferably, as shown in fig. 4, the unmanned aerial vehicle control system further includes: the system comprises a map storage module, a gyroscope and an airplane power subsystem, wherein the map storage module is connected with a processing module, the gyroscope is used for detecting the flight attitude of the unmanned aerial vehicle, and the airplane power subsystem is controlled by the airborne processor module; specifically, the onboard processor module in the unmanned aerial vehicle is further connected with a map storage module, and the onboard processor module is suitable for matching the received optimal path with map information so that the unmanned aerial vehicle flies according to the optimal path, and the flight path and the flight attitude are corrected through the GPS module and the gyroscope in the flying process so as to improve the shooting control stability.
Wherein the aircraft power subsystem comprises: a horizontal power mechanism 1 and a vertical power mechanism 2 controlled by the airborne processor module; wherein horizontal power unit 1 is located fuselage 5 department, and includes: a horizontal propeller mechanism; the vertical power mechanism 2 includes: the vertical propeller 201 mechanisms are symmetrically arranged at the left wing 3 and the right wing 3; the vertical propeller 201 mechanism comprises at least one vertical propeller 201, a suspension device 4 used for suspending the vertical propeller 201 mechanism below the wing 3, and the vertical propeller 201 is suitable for being driven to rotate by a corresponding micro motor 202; the suspension device 4 comprises: a first angle fine adjustment motor 401 adapted to tilt the vertical screw 201 forward or backward (as directed in F1 in fig. 6), and a second angle fine adjustment motor 402 adapted to tilt the vertical screw 201 leftward or rightward (as directed in F2 in fig. 6); the first angle fine-tuning motor, the second angle fine-tuning motor and the micro motor 202 are controlled by an onboard processor module, so that the inclination angle of the vertical propeller 201 and the rotating speed of the vertical propeller 201 are adjusted according to the flight attitude, the high-altitude hovering mode is suitable, or the corresponding flight attitude control is kept, and the image shooting definition is improved.
In fig. 6, a vertical propeller 201 comprises two vertical propellers 201, which are symmetrically arranged in front and back, and therefore also comprises two second angle fine adjustment motors 402, wherein the two second angle fine adjustment motors 402 are controlled by an onboard processor module and are suitable for synchronous rotation.
The unmanned aerial vehicle is also provided with a wind direction sensor and a wind speed sensor which are used for detecting crosswind encountered in the flight process, and the wind direction sensor and the wind speed sensor are suitable for sending the wind direction and the wind speed data of the crosswind borne by the unmanned aerial vehicle to the onboard processor module; the onboard processor module is adapted to adjust the inclination angle of the vertical propeller 201 and the rotational speed of the vertical and horizontal propellers according to the wind direction and wind speed data of the crosswind to stabilize the current flight attitude.
If the unmanned aerial vehicle flies between buildings in the city, the crosswind belongs to one of wind between buildings.
Specifically, wind direction sensor and wind speed sensor are used for surveying the wind direction and the wind speed data of the crosswind that unmanned aerial vehicle actually obtained at the flight in-process, and then through the inclination of perpendicular screw 201, preceding or back promptly, adjust left and right to combine the rotational speed of perpendicular, horizontal screw, in order to play the effect of stable flight gesture, and if the crosswind is favorable to the flight, then can also suitably reduce the rotational speed of horizontal screw, in order to practice thrift the electric energy.
For example, when the unmanned aerial vehicle flies from east to west, if the unmanned aerial vehicle encounters crosswind in the southwest direction, the airborne processor module is suitable for adjusting the inclination angle of the vertical propeller 201, namely, the vertical propeller is inclined towards the southwest direction, so as to counteract the influence of the crosswind in the southwest direction on the flight route of the unmanned aerial vehicle; the rotation speed of the vertical propeller 201 is changed according to the wind speed. Or when utilizing unmanned aerial vehicle transportation express delivery, can remain stable gesture of hovering through unmanned aerial vehicle to guarantee that the flying height and delivery floor phase-match improve the accuracy of delivering goods, reduce unmanned aerial vehicle collision probability.
The onboard processor module is, for example, but not limited to, a single chip microcomputer or an ARM processor.
Preferably, the wings of the unmanned aerial vehicle are covered with photovoltaic cells, the path optimization subsystem is further adapted to obtain real-time illumination intensity between each building, and when the path optimization subsystem selects the optimal path, if two or more road sections have wind between the buildings with the same data, the road section with the maximum real-time illumination intensity is selected into the optimal path.
Further, the path optimization subsystem is also suitable for obtaining cloud layer data over the city and avoiding road sections of cloud layer coverage areas when the optimal path is selected; the onboard processor module is also connected with a camera device for shooting the panoramic view of the building, and is suitable for identifying the height of the building according to the panoramic view of the building; when the unmanned aerial vehicle flies in rainy and snowy weather, the path optimization subsystem is suitable for selecting a leeward road section of a building as the path selection of the unmanned aerial vehicle in the optimal path; and the flying height of the unmanned aerial vehicle is lower than the height of the building so as to shield rain and snow.
Preferably, the onboard processor module is further connected with a charge-discharge control module in the unmanned aerial vehicle, the charge-discharge control module is suitable for sending the electric quantity of the onboard battery to the onboard processor module, and when the electric quantity of the onboard battery is lower than a set value, the onboard processor module controls the unmanned aerial vehicle to stop in an area with high illumination intensity so as to charge the onboard battery through the photovoltaic battery; or the airborne processor module controls the unmanned aerial vehicle to stop in an area with larger wind power so as to generate electric energy to charge the airborne battery by blowing the horizontal propeller and/or the vertical propeller; the vertical propeller is suitable for adjusting an inclination angle through the first angle fine adjustment motor and the second angle fine adjustment motor so as to obtain maximum wind power and improve wind power generation efficiency. Specifically, unmanned aerial vehicle control system still includes: the charging and discharging control module is suitable for complementing electric energy generated by wind power and solar energy and then charging the airborne battery, and can be realized through a corresponding wind-solar complementary module in the prior art.
Unmanned aerial vehicle has one set of panorama shooting device, and this panorama shooting device's shooting data send data processing system to through airborne processor module, airborne wireless communication module.
Example 2
On the basis of the embodiment 1, the invention also provides a working method of the vehicle-mounted mobile image acquisition system for three-dimensional modeling, namely, if a vehicle provided with the vehicle-mounted mobile image acquisition system is jammed in the process of running, the unmanned aerial vehicle is started, and the image data is acquired through an unmanned aerial vehicle shooting system on the unmanned aerial vehicle.
The details of the relevant content of the unmanned aerial vehicle shooting system in this embodiment 2 are described in detail in embodiment 1.
The unmanned aerial vehicle carries out flight shooting according to an original driving route of the vehicle, or sets a shooting destination, and selects a route from which the unmanned aerial vehicle flies to the destination to obtain an optimal route.
The unmanned aerial vehicle carries out flight shooting according to the preset driving route of the vehicle, in particular,
the vehicle-mounted mobile positioning system is further connected with the vehicle-mounted processor module, and the vehicle-mounted processor module sends the vehicle's intended driving route to the unmanned aerial vehicle through the vehicle-mounted communication module, so that the unmanned aerial vehicle flies and shoots according to the vehicle's intended driving route.
The method for selecting the path from which the unmanned aerial vehicle flies to the destination to obtain the optimal path comprises the following steps:
acquiring real-time data of wind among buildings, and establishing an air duct network among urban buildings; after the unmanned aerial vehicle sets a shooting destination, an airborne processor module in the unmanned aerial vehicle is suitable for selecting an optimal path of the unmanned aerial vehicle to fly to the destination according to an air duct network between urban buildings through a path optimization subsystem.
The wings of the unmanned aerial vehicle are covered with photovoltaic cells, and the path optimization subsystem is also suitable for obtaining the real-time illumination intensity among all the buildings; and when the path optimization subsystem selects the optimal path, if two or more road sections have the same data of the wind between the buildings, the road section with the maximum real-time illumination intensity is selected into the optimal path. The real-time illumination data can be obtained by placing a photosensitive sensor in the air duct data acquisition node.
The path optimization subsystem is also suitable for acquiring cloud layer data over the city and avoiding the road section of a cloud layer coverage area when selecting the optimal path; wherein the cloud data is adapted to be obtained by a meteorological satellite or in real-time by a plurality of local meteorological observation posts.
The unmanned aerial vehicle is also provided with a camera device for shooting the panoramic view of the building, the camera device is connected with the airborne processor module, and the airborne processor module is suitable for identifying the height of the building according to the panoramic view of the building; when the unmanned aerial vehicle flies in rainy and snowy weather, the path optimization subsystem is suitable for selecting a leeward road section of a building as the path selection of the unmanned aerial vehicle in the optimal path; and make unmanned aerial vehicle's flying height be less than the height of this building to shelter from sleet, can improve the shooting effect and make the stable formation of image.
The working method further comprises the following steps: the method for adjusting the inclination angle and the rotating speed of the vertical propeller 201 according to the flight attitude comprises the following steps: the onboard processor module is suitable for controlling the first angle fine tuning motor 401 to drive the vertical propeller 201 to incline forwards, and simultaneously controls the horizontal propeller to work in the horizontal propeller mechanism so as to shorten the time for the unmanned aerial vehicle to reach the set cruising height, and meet the cruising speed of the unmanned aerial vehicle when the unmanned aerial vehicle reaches the cruising height.
The unmanned aerial vehicle is also provided with a wind direction sensor and a wind speed sensor which are used for detecting crosswind encountered in the flight process, and the wind direction sensor and the wind speed sensor are suitable for sending the wind direction and the wind speed data of the crosswind borne by the unmanned aerial vehicle to the onboard processor module; the onboard processor module is adapted to adjust the inclination angle of the vertical propeller 201 and the rotation speed of the vertical and horizontal propellers according to the wind direction and wind speed data of crosswind to stabilize the current flight attitude for image data acquisition.
Specifically, the method for acquiring the image data by the airborne processor module is suitable for adjusting the inclination angle of the vertical propeller 201 and the rotating speeds of the vertical propeller and the horizontal propeller according to the wind direction and the wind speed data of crosswind so as to stabilize the current flight attitude, and comprises the following steps: if the unmanned aerial vehicle hovers in the air, the horizontal propeller stops working, the vertical propeller 201 works, and the onboard processor module is suitable for changing the inclination angle and the rotating speed of the vertical propeller 201 according to the wind direction and the wind speed data of crosswind so as to stabilize the hovering attitude; if the unmanned aerial vehicle cruises, the onboard processor module is suitable for changing the inclination angle and the rotating speed of the vertical propeller 201 according to the wind direction and the wind speed data of crosswind so as to keep the cruises height.
The specific implementation process comprises the following steps: if the unmanned aerial vehicle hovers under control, if the unmanned aerial vehicle encounters crosswind from east to west, the inclination angle of the vertical propeller 201 corresponds to the crosswind direction so as to counteract the influence of the crosswind on the flight attitude of the unmanned aerial vehicle, and the rotating speed of the vertical propeller 201 is adjusted according to the wind speed of the crosswind.
The airborne processor module is suitable for judging whether the wind direction and the wind speed of crosswind help flying, if the flying is helped, the rotating speed of the vertical propeller 201 and/or the horizontal propeller 101 is reduced, electric energy is saved, and the cruising mileage of the unmanned aerial vehicle is improved.
The onboard processor module is also connected with a charge and discharge control module in the unmanned aerial vehicle, the charge and discharge control module is suitable for sending the electric quantity of the onboard battery to the onboard processor module, and when the electric quantity of the onboard battery is lower than a set value, the onboard processor module controls the unmanned aerial vehicle to stop in an area with high illumination intensity so as to charge the onboard battery through the photovoltaic battery; or the airborne processor module controls the unmanned aerial vehicle to stop in an area with larger wind power so as to generate electric energy to charge the airborne battery by blowing the horizontal propeller and/or the vertical propeller; the vertical propeller is suitable for adjusting an inclination angle through the first angle fine adjustment motor and the second angle fine adjustment motor so as to obtain maximum wind power and improve wind power generation efficiency. Specifically, unmanned aerial vehicle control system still includes: the charging and discharging control module is suitable for complementing electric energy generated by wind power and solar energy and then charging the airborne battery, and can be realized through a corresponding wind-solar complementary module in the prior art.
In light of the foregoing description of the preferred embodiment of the present invention, many modifications and variations will be apparent to those skilled in the art without departing from the spirit and scope of the invention. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.
Claims (3)
1. The utility model provides a vehicle-mounted mobile image acquisition system which characterized in that includes: an on-vehicle mobile positioning system for positioning the vehicle in motion, a panoramic image acquisition system for image data acquisition, and a synchronization controller unit, wherein
The synchronous controller unit is suitable for controlling the panoramic image acquisition system to synchronously shoot in the running process of the vehicle;
the panoramic image acquisition system includes: the vehicle-mounted processor module, a panoramic camera and single-lens reflex cameras arranged in the front, back, left and right directions,
the vehicle-mounted processor module is suitable for controlling the focusing control end and the photographing control end of each single lens reflex so as to realize focusing and photographing of the corresponding single lens reflex;
the synchronization controller unit includes: a clock module adapted to provide an internal trigger signal and/or a hall sensor adapted to provide an external trigger signal; wherein
Each of the SLR camera and the panoramic camera is adapted to perform synchronous photographing by an internally triggered clock signal, an
Each single lens reflex and the panoramic camera are suitable for realizing synchronous shooting through externally triggered mileage and vehicle speed signals;
the vehicle-mounted processor module is also connected with the vehicle-mounted wireless communication module;
the panoramic image acquisition system further comprises: install the unmanned aerial vehicle shooting system on unmanned aerial vehicle, unmanned aerial vehicle shooting system includes: the airborne processor module is connected with the airborne wireless communication module;
the unmanned aerial vehicle shooting system is suitable for sending shot image data to a data processing system in the vehicle-mounted mobile image acquisition system through the airborne wireless communication module;
unmanned aerial vehicle imaging system still includes: a path optimization subsystem coupled to the onboard processor module;
the path optimization subsystem is suitable for acquiring real-time data of wind among all buildings and establishing an air duct network among urban buildings;
after the unmanned aerial vehicle sets a shooting destination, the path optimization subsystem is suitable for selecting an optimal path of the unmanned aerial vehicle to fly to the destination according to an air duct network between urban buildings;
unmanned aerial vehicle imaging system still includes: the system comprises a map storage module, a gyroscope and an airplane power subsystem, wherein the map storage module is connected with a processing module, the gyroscope is used for detecting the flight attitude of the unmanned aerial vehicle, and the airplane power subsystem is controlled by the airborne processor module; wherein
The aircraft power subsystem includes: a horizontal power mechanism and a vertical power mechanism controlled by the airborne processor module; wherein
Horizontal power unit is located fuselage department, and includes: a horizontal propeller mechanism;
the vertical power mechanism comprises: the vertical propeller mechanisms are symmetrically arranged at the left wing and the right wing;
the vertical propeller mechanism comprises at least one vertical propeller and a suspension device used for suspending the vertical propeller mechanism under the wing, and the vertical propeller is suitable for being driven to rotate by a corresponding micro motor;
the suspension device includes: a first angle fine adjustment motor adapted to tilt the vertical propeller forward or backward, and a second angle fine adjustment motor adapted to tilt the vertical propeller leftward or rightward; wherein
The first angle fine-tuning motor, the second angle fine-tuning motor and the micro motor are controlled by an onboard processor module so as to adjust the inclination angle of the vertical propeller and the rotating speed of the vertical propeller according to the flight attitude;
the unmanned aerial vehicle is also provided with a wind direction sensor and a wind speed sensor which are used for detecting crosswind encountered in the flight process, and the wind direction and wind speed data of the crosswind borne by the current unmanned aerial vehicle are sent to the onboard processor module;
the onboard processor module is suitable for adjusting the inclination angle of the vertical propeller and the rotating speeds of the vertical propeller and the horizontal propeller according to the wind direction and the wind speed data of crosswind so as to stabilize the current flight attitude for image data acquisition;
if the direction and speed of the crosswind contribute to the flight, the rotational speed of the vertical propeller and/or the horizontal propeller is reduced.
2. The vehicle-mounted mobile image acquisition system according to claim 1, wherein the wings of the unmanned aerial vehicle are covered with photovoltaic cells, and the path optimization subsystem is further adapted to obtain real-time illumination intensity between each building, an
When the path optimization subsystem selects the optimal path, if two or more road sections have the same data of the wind between the buildings, the road section with the maximum real-time illumination intensity is selected into the optimal path;
the path optimization subsystem is also suitable for acquiring cloud layer data over the city and avoiding the road section of a cloud layer coverage area when selecting the optimal path; and
the onboard processor module is also connected with a camera device for shooting the panoramic view of the building, and is suitable for identifying the height of the building according to the panoramic view of the building;
when the unmanned aerial vehicle flies in rainy and snowy weather, the path optimization subsystem is suitable for selecting a leeward road section of a building as the path selection of the unmanned aerial vehicle in the optimal path; and the flying height of the unmanned aerial vehicle is lower than the height of the building so as to shield rain and snow.
3. The vehicle-mounted mobile image acquisition system according to claim 2, wherein the onboard processor module is further connected with a charge-discharge control module in the vehicle, the charge-discharge control module is adapted to send the power of the onboard battery to the onboard processor module, and the onboard processor module controls the unmanned aerial vehicle to stop in an area with high illumination intensity when the power of the onboard battery is lower than a set value, so as to charge the onboard battery through the photovoltaic battery; or the airborne processor module controls the unmanned aerial vehicle to stop in an area with larger wind power so as to generate electric energy to charge the airborne battery by blowing the horizontal propeller and/or the vertical propeller; wherein
The vertical propeller is suitable for adjusting an inclination angle through the first angle fine adjustment motor and the second angle fine adjustment motor.
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| CN110779496B (en) * | 2018-07-30 | 2022-03-22 | 斑马智行网络(香港)有限公司 | Three-dimensional map construction system, method, device and storage medium |
| CN109889778A (en) * | 2019-01-25 | 2019-06-14 | 杭州易明远科技有限公司 | A kind of geographical information collection system |
| CN110046612A (en) * | 2019-05-05 | 2019-07-23 | 淮安信息职业技术学院 | A kind of road group mist state parameter monitoring system and its method |
| CN110163139A (en) * | 2019-05-14 | 2019-08-23 | 苏州嘉奕晟中小企业科技咨询有限公司 | Three-dimensional digital information acquisition in city updates scanning system |
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